update

experiments/experiment_cit3f_with_gamma.sh

@@ -1,5 +1,5 @@
-for i in `seq 1`
+for i in `seq 5`
 do
-  roslaunch real_tsudanuma2-3_sim nav_cloning_sim.launch script:=nav_cloning_with_direction_node.py mode:=selected_training world_name:=tsudanuma2-3_v2.2.6.world map_file:=real_tsudanuma2-3.yaml waypoints_file:=real_tsudanuma2-3_way.yaml dist_err:=0.8 initial_pose_x:=-5.0 initial_pose_y:=7.7 initial_pose_a:=3.14 use_waypoint_nav:=true robot_x:=0.0 robot_y:=0.0 robot_Y:=0.0
+  roslaunch real_tsudanuma2-3_sim nav_cloning_sim.launch script:=nav_cloning_with_direction_node.py mode:=selected_training world_name:=tsudanuma2-3_v2.3.3.world map_file:=real_tsudanuma2-3.yaml waypoints_file:=real_tsudanuma2-3_way.yaml dist_err:=0.8 initial_pose_x:=-5.0 initial_pose_y:=7.7 initial_pose_a:=3.14 use_waypoint_nav:=true robot_x:=0.0 robot_y:=0.0 robot_Y:=0.0
   sleep 10
 done

launch/gamma_navigation.launch

@@ -33,7 +33,14 @@
   <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
 
   <!-- AMCL -->
-  <include file="$(find turtlebot3_navigation)/launch/amcl.launch">
+  <!-- <include file="$(find turtlebot3_navigation)/launch/amcl.launch">
+    <arg name="initial_pose_x" value="$(arg initial_pose_x)" />
+    <arg name="initial_pose_y" value="$(arg initial_pose_y)" />
+    <arg name="initial_pose_a" value="$(arg initial_pose_a)" />
+  </include> -->
+
+  <include file="$(find emcl2)/launch/emcl2.launch">
+    <arg name="scan_topic"  default="scan"/>
     <arg name="initial_pose_x" value="$(arg initial_pose_x)" />
     <arg name="initial_pose_y" value="$(arg initial_pose_y)" />
     <arg name="initial_pose_a" value="$(arg initial_pose_a)" />

launch/nav_cloning_sim.launch

@@ -21,7 +21,7 @@
     <arg name="world_name" value="$(find real_tsudanuma2-3_sim)/world/$(arg world_name)"/> 
     <arg name="paused" value="false"/>
     <arg name="use_sim_time" value="true"/>
-    <arg name="gui" value="true"/>
+    <arg name="gui" value="false"/>
     <arg name="headless" value="false"/>
     <arg name="debug" value="false"/>
   </include>
@@ -44,7 +44,7 @@
   </node>
 
   <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
-        args="25 nav_cloning start_wp_nav.launch"
+        args="15 nav_cloning start_wp_nav.launch"
         name="timed_roslaunch3" >
   </node>